good neuromuscular exercises for ACL reconstructed knees?

Both my knees have had ACL reconstruction the Right knee about 14 years ago, the Left one 10/2013. I feel they are pretty strong but they still sometimes buckle and/or give way(usually my left, rarely my right). I want to get back into running but it feels like the muscles in my left knee won't/don't want to contract/fire when they needs to.
This also makes it hard to get back into Judo because sometimes it will just buckle, sometimes like when the knee is getting tired I can feel it start to want to buckle but sometimes it buckles unexpectedly which brings a mental element of trust into the problem.
I was wondering if there were any neuromuscular/proprioceptive exercises/routines, etc. that would be good to do to get the knee muscles to fire properly when they need to